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It depends what you mean by judder and where it comes from. If the judder comes through the steering column it could be worn or badly adjusted wheel bearings. Get it checked out by a garage or a tyre fitting shop as soon as possible.

First thought is that if you have a judder from the brakes you may have a warped front disc. The ABS system sensor may be picking this judder up and converting it to a fault.
A warped disc would spin and catch then spin and catch again rather like the rapid on/off braking that ABS does. This 'could' be the judder you feel and should be especially noticeable when braking and barely noticeable when driving with the brakes completely off.

I HAD JUDDERING WHEN PULLING AWAY FROM STOP POSITION IN MY RENAULT CLIO. TURNED OUT MY FRONT BRAKE PADS WERE JAMMED ON DUE TO SEIZED LOWER GUIDE PINS ON FRONT BRAKE CALIPERS. FREED THEM WITH A SPANNER AND PLENTY OF WD40.CURED MY JUDDERING PROBLEM. SORRY I CAN' T HELP WITH ENGINE LIGHT...JOHN PAXTON

you may have a bad turbo it is common on the vw. with engine off take off big black tube and see if filled up with oil. if has alot of oil it in it will need to be replaced.did the cam code come back on or was this a old code stored in memory?

i have the same problem with mine, for some reason my oil lines keep snapping off where they bolt into the diff,

the red ayc light is there to show you theres a problem and it has shut off the ayc, i would look for any oil leaks along the two lines that go from the diff to the pump, and make sure there is oil in the filler tank in the boot,

failing this, have it plugged into a diagnostic computer to find out which error codes are being displayed and what they mean

Most likely nothing mechanically wrong in the gearbox but check the transmission fluid level and top up if low. Also if low, check for site of leak to remedy it.
Judder says to me 'imbalance' or an under damped spring. Does the judder emanate from one end (transmission) or one side (wheel) predominantly. Has the judder manifested itself just on its own or is it after having had some work done to the car.
Check wheels for balance - could be a balance weight has been lost, at the same time check the action of the shock absorbers.
Check the rear engine/gearbox mount for integrity; its towards the rear of the gearbox and sits on a transmission tunnel cross-member .
Now check the front prop to gearbox doughnut coupling, then the central bearing and finally the rear prop to differential doughnut coupling; all should be sound. Signs of splitting of the rubber around the bolt mounts in the doughnuts or a lot of lateral play in the central bearing are indicators for renewal.

I have 2 meganes im working on at the moment both have the same problem. the electrical falt light is on coz the pipe has snapped (or come off) under the bonnet on the passangers side close to the window (theres a black box about 2 inch wide the pipe connects underneath). if I reconect the pipe and grab the engien with both hands it wobbles and the pipe pulls off. I suspect this is coz one (or all) the engien mountings are shagged. and this will be the cause of the juddering when driveing in first and second gears. solutions iv have come across for juddering involve changeing the coil pack but thats nothing to do with the problem my 2 cars have as one of them has new coils. they are 1.6 petrol, p reg and s reg

juddering is UK english for shuddering in US english. The center bearing shouldn't move, i/e/ the shaft should rotate w/o side play in the bearing, but the rubber mounts for the bearing should be flexible. The needle bearings in the universal joints in the front to rear drive shaft can go bad, causing noise when accelerating and they're not changeable w/o special tools. Your problem also sounds like differential, which would mean that you need to change the gear oil in the rear differential. As the oil ages it stops working properly in the limited slip differential even if visually OK. Do the front differential at the same time, engine heat ages it even faster. The center diff is in the AT, so you would change the AT filter and fluid.
How to tell which problem you have... in a parking lot with dry pavement, stop the vehicle, turn the wheel hard right, accelerate a moment, and repeat hard left and centered. If its worse turning, than straight suspect the differential fluids first. If its the same turning or not and especially if its the same on wet or dry pavement and at slow and high speed then look into the propeller shaft first.